master/master.h
author Florian Pose <fp@igh-essen.com>
Mon, 05 May 2014 13:55:00 +0200
branchstable-1.5
changeset 2542 8dd49f6f6d32
parent 2530 f8b779c9794e
permissions -rw-r--r--
Fixed hex display of slave position; thanks to Henry Bausley.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_MASTER_H__
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#define __EC_MASTER_H__
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#include <linux/version.h>
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#include <linux/list.h>
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#include <linux/timer.h>
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#include <linux/wait.h>
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#include <linux/kthread.h>
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
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#include <linux/semaphore.h>
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#else
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#include <asm/semaphore.h>
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#endif
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#include "device.h"
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#include "domain.h"
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#include "ethernet.h"
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#include "fsm_master.h"
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#include "cdev.h"
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#ifdef EC_RTDM
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#include "rtdm.h"
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#endif
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/*****************************************************************************/
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/** Convenience macro for printing master-specific information to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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 * where INDEX is the master index.
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 *
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 * \param master EtherCAT master
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_MASTER_INFO(master, fmt, args...) \
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    printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific errors to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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 * where INDEX is the master index.
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 *
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 * \param master EtherCAT master
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_MASTER_ERR(master, fmt, args...) \
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    printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific warnings to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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 * where INDEX is the master index.
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 *
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 * \param master EtherCAT master
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_MASTER_WARN(master, fmt, args...) \
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    printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)
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/** Convenience macro for printing master-specific debug messages to syslog.
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 *
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 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",
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 * where INDEX is the master index.
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 *
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 * \param master EtherCAT master
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 * \param level Debug level. Master's debug level must be >= \a level for
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 * output.
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 * \param fmt format string (like in printf())
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 * \param args arguments (optional)
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 */
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#define EC_MASTER_DBG(master, level, fmt, args...) \
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    do { \
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        if (master->debug_level >= level) { \
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            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
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                    master->index, ##args); \
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        } \
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    } while (0)
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/** Size of the external datagram ring.
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 *
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 * The external datagram ring is used for slave FSMs.
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 */
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#define EC_EXT_RING_SIZE 32
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/*****************************************************************************/
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/** EtherCAT master phase.
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 */
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typedef enum {
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    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device
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                   attached. */
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    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master
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               is not in use, yet. */
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    EC_OPERATION /**< Operation phase. The master was requested by a realtime
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                   application. */
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} ec_master_phase_t;
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/*****************************************************************************/
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/** Cyclic statistics.
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 */
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typedef struct {
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    unsigned int timeouts; /**< datagram timeouts */
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    unsigned int corrupted; /**< corrupted frames */
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    unsigned int unmatched; /**< unmatched datagrams (received, but not
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                               queued any longer) */
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    unsigned long output_jiffies; /**< time of last output */
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} ec_stats_t;
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/*****************************************************************************/
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/** Device statistics.
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 */
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typedef struct {
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    u64 tx_count; /**< Number of frames sent. */
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    u64 last_tx_count; /**< Number of frames sent of last statistics cycle. */
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    u64 rx_count; /**< Number of frames received. */
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    u64 last_rx_count; /**< Number of frames received of last statistics
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                         cycle. */
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    u64 tx_bytes; /**< Number of bytes sent. */
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    u64 last_tx_bytes; /**< Number of bytes sent of last statistics cycle. */
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    u64 rx_bytes; /**< Number of bytes received. */
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    u64 last_rx_bytes; /**< Number of bytes received of last statistics cycle.
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                        */
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    u64 last_loss; /**< Tx/Rx difference of last statistics cycle. */
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    s32 tx_frame_rates[EC_RATE_COUNT]; /**< Transmit rates in frames/s for
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                                         different statistics cycle periods.
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                                        */
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    s32 rx_frame_rates[EC_RATE_COUNT]; /**< Receive rates in frames/s for
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                                         different statistics cycle periods.
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                                        */
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    s32 tx_byte_rates[EC_RATE_COUNT]; /**< Transmit rates in byte/s for
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                                        different statistics cycle periods. */
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    s32 rx_byte_rates[EC_RATE_COUNT]; /**< Receive rates in byte/s for
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                                        different statistics cycle periods. */
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    s32 loss_rates[EC_RATE_COUNT]; /**< Frame loss rates for different
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                                     statistics cycle periods. */
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    unsigned long jiffies; /**< Jiffies of last statistic cycle. */
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} ec_device_stats_t;
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/*****************************************************************************/
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#if EC_MAX_NUM_DEVICES < 1
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#error Invalid number of devices
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#endif
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/*****************************************************************************/
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/** EtherCAT master.
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 *
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 * Manages slaves, domains and IO.
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 */
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struct ec_master {
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    unsigned int index; /**< Index. */
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    unsigned int reserved; /**< \a True, if the master is in use. */
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    ec_cdev_t cdev; /**< Master character device. */
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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
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    struct device *class_device; /**< Master class device. */
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#else
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    struct class_device *class_device; /**< Master class device. */
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#endif
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#ifdef EC_RTDM
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    ec_rtdm_dev_t rtdm_dev; /**< RTDM device. */
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#endif
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    struct semaphore master_sem; /**< Master semaphore. */
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    ec_device_t devices[EC_MAX_NUM_DEVICES]; /**< EtherCAT devices. */
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    const uint8_t *macs[EC_MAX_NUM_DEVICES]; /**< Device MAC addresses. */
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#if EC_MAX_NUM_DEVICES > 1
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    unsigned int num_devices; /**< Number of devices. Access this always via
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                                ec_master_num_devices(), because it may be
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                                optimized! */
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#endif
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    struct semaphore device_sem; /**< Device semaphore. */
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    ec_device_stats_t device_stats; /**< Device statistics. */
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    ec_fsm_master_t fsm; /**< Master state machine. */
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    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */
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    ec_master_phase_t phase; /**< Master phase. */
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    unsigned int active; /**< Master has been activated. */
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    unsigned int config_changed; /**< The configuration changed. */
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    unsigned int injection_seq_fsm; /**< Datagram injection sequence number
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                                      for the FSM side. */
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    unsigned int injection_seq_rt; /**< Datagram injection sequence number
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                                     for the realtime side. */
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    ec_slave_t *slaves; /**< Array of slaves on the bus. */
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    unsigned int slave_count; /**< Number of slaves on the bus. */
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    /* Configuration applied by the application. */
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    struct list_head configs; /**< List of slave configurations. */
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    struct list_head domains; /**< List of domains. */
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    u64 app_time; /**< Time of the last ecrt_master_sync() call. */
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    u64 app_start_time; /**< Application start time. */
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    u8 has_app_time; /**< Application time is valid. */
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    ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the
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                                       reference clock to the master clock. */
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    ec_datagram_t sync_datagram; /**< Datagram used for DC drift
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                                   compensation. */
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    ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation
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                                       monitoring. */
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    ec_slave_config_t *dc_ref_config; /**< Application-selected DC reference
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                                        clock slave config. */
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    ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
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    unsigned int scan_busy; /**< Current scan state. */
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    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
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    struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
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                                 variable and the \a allow_scan flag. */
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    wait_queue_head_t scan_queue; /**< Queue for processes that wait for
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                                    slave scanning. */
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    unsigned int config_busy; /**< State of slave configuration. */
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    struct semaphore config_sem; /**< Semaphore protecting the \a config_busy
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                                   variable and the allow_config flag. */
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    wait_queue_head_t config_queue; /**< Queue for processes that wait for
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                                      slave configuration. */
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    struct list_head datagram_queue; /**< Datagram queue. */
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    uint8_t datagram_index; /**< Current datagram index. */
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    struct list_head ext_datagram_queue; /**< Queue for non-application
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                                           datagrams. */
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    struct semaphore ext_queue_sem; /**< Semaphore protecting the \a
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                                      ext_datagram_queue. */
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    ec_datagram_t ext_datagram_ring[EC_EXT_RING_SIZE]; /**< External datagram
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                                                         ring. */
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    unsigned int ext_ring_idx_rt; /**< Index in external datagram ring for RT
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                                    side. */
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    unsigned int ext_ring_idx_fsm; /**< Index in external datagram ring for
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                                     FSM side. */
2299
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    unsigned int send_interval; /**< Interval between two calls to
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                                  ecrt_master_send(). */
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    size_t max_queue_size; /**< Maximum size of datagram queue */
241
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    ec_slave_t *fsm_slave; /**< Slave that is queried next for FSM exec. */
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    struct list_head fsm_exec_list; /**< Slave FSM execution list. */
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    unsigned int fsm_exec_count; /**< Number of entries in execution list. */
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    unsigned int debug_level; /**< Master debug level. */
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    ec_stats_t stats; /**< Cyclic statistics. */
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    struct task_struct *thread; /**< Master thread. */
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#ifdef EC_EOE
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    struct task_struct *eoe_thread; /**< EoE thread. */
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    struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
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#endif
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    struct semaphore io_sem; /**< Semaphore used in \a IDLE phase. */
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    void (*send_cb)(void *); /**< Current send datagrams callback. */
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    void (*receive_cb)(void *); /**< Current receive datagrams callback. */
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    void *cb_data; /**< Current callback data. */
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    void (*app_send_cb)(void *); /**< Application's send datagrams
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                                          callback. */
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    void (*app_receive_cb)(void *); /**< Application's receive datagrams
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                                      callback. */
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    void *app_cb_data; /**< Application callback data. */
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    struct list_head sii_requests; /**< SII write requests. */
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    struct list_head emerg_reg_requests; /**< Emergency register access
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                                           requests. */
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    wait_queue_head_t request_queue; /**< Wait queue for external requests
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                                       from user space. */
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};
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39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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/*****************************************************************************/
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// static funtions
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void ec_master_init_static(void);
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e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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// master creation/deletion
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int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
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        const uint8_t *, dev_t, struct class *, unsigned int);
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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void ec_master_clear(ec_master_t *);
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f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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/** Number of Ethernet devices.
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 */
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#if EC_MAX_NUM_DEVICES > 1
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#define ec_master_num_devices(MASTER) ((MASTER)->num_devices)
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#else
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#define ec_master_num_devices(MASTER) 1
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#endif
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// phase transitions
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int ec_master_enter_idle_phase(ec_master_t *);
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void ec_master_leave_idle_phase(ec_master_t *);
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int ec_master_enter_operation_phase(ec_master_t *);
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void ec_master_leave_operation_phase(ec_master_t *);
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ca805255a935 Prepared Free-Run mode
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#ifdef EC_EOE
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// EoE
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void ec_master_eoe_start(ec_master_t *);
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void ec_master_eoe_stop(ec_master_t *);
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#endif
251
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8fede404c01f Persistent slave lists.
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// datagram IO
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void ec_master_receive_datagrams(ec_master_t *, ec_device_t *,
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        const uint8_t *, size_t);
2374
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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
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void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);
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195
674071846ee3 Translated all comments and documentation to english language.
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// misc.
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void ec_master_set_send_interval(ec_master_t *, unsigned int);
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void ec_master_attach_slave_configs(ec_master_t *);
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ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
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const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
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        uint16_t);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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void ec_master_output_stats(ec_master_t *);
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#ifdef EC_EOE
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bc1de1362efb Dynamic creation of EoE handlers.
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void ec_master_clear_eoe_handlers(ec_master_t *);
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#endif
992
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void ec_master_clear_slaves(ec_master_t *);
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7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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990
4f223f3df05a Bus configuration via 'ethercat config'.
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unsigned int ec_master_config_count(const ec_master_t *);
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0b411da5fd24 Added ec_master_get_config().
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ec_slave_config_t *ec_master_get_config(
0b411da5fd24 Added ec_master_get_config().
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        const ec_master_t *, unsigned int);
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4f223f3df05a Bus configuration via 'ethercat config'.
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const ec_slave_config_t *ec_master_get_config_const(
4f223f3df05a Bus configuration via 'ethercat config'.
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        const ec_master_t *, unsigned int);
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6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
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unsigned int ec_master_domain_count(const ec_master_t *);
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ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
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const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
fce58ba8a912 Added ec_master_find_domain_const().
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        unsigned int);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   372
#ifdef EC_EOE
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uint16_t ec_master_eoe_handler_count(const ec_master_t *);
5ddc3a455059 ethercat eoe command.
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const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
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#endif
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f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
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int ec_master_debug_level(ec_master_t *, unsigned int);
956
d9b9bc794d10 Implemented 'ethercat debug' command.
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   378
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
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ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);
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ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
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        uint16_t, uint32_t, uint32_t);
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   382
1425
c1322a8793c0 Transition delay calculation. TBC...
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void ec_master_calc_dc(ec_master_t *);
1925
29161abef052 Write DC system time offsets right after slave scan / config change. Wait for DC clock discipline.
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   384
void ec_master_request_op(ec_master_t *);
1425
c1322a8793c0 Transition delay calculation. TBC...
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   385
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60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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void ec_master_internal_send_cb(void *);
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
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void ec_master_internal_receive_cb(void *);
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extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c
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/*****************************************************************************/
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#endif